From fa4719dc5d0d463df55fabc56d353a4cac007dd6 Mon Sep 17 00:00:00 2001
From: zhangbo <zhangbo@qq.com>
Date: 星期二, 25 二月 2025 17:55:38 +0800
Subject: [PATCH] 通过初步测试阶段，已经可以显示当前坐标，修改了蓝牙基站数量的逻辑。
---
keil/include/main/main.c | 565 ++++++++++++++++++++++++++++++++++----------------------
1 files changed, 340 insertions(+), 225 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index e2bba9d..470fc79 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -67,6 +67,9 @@
//#include "pan_param.h"
//#include "pan_rf.h"
#include "lora_3029.h"
+#include "pan_rf.h"
+#include "PCA9555.h"
+#include "mk_phy.h"
#define DEBUG_MODE
extern int simple_main(void);
extern int temp_main(void);
@@ -81,6 +84,15 @@
#define WARING_LIMIT_TIME 10
#define UPDATE_TIME 10
+/****************************************************************引脚宏定义**************************************************/
+#define ADC_PIN IO_PIN_0
+#define UART0_TX IO_PIN_5
+#define UART0_RX IO_PIN_6
+#define UART1_TX IO_PIN_1
+#define UART1_RX IO_PIN_14
+
+
+/****************************************************************引脚宏定义**************************************************/
void test_Delay_us(uint16_t time);
void Lora_UploadHeartBeartPoll(void);
extern uint8_t mUsartReceivePack[100];
@@ -154,6 +166,7 @@
{
uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
}
+
static void adc_callback(void *data, uint32_t number)
{
uint32_t *result = (uint32_t *)data;
@@ -287,9 +300,18 @@
nomove_count++;
}
uint8_t flag_sleeptimer,flag_secondtask,secondtask_count;
+uint8_t lora_wg_up=0;
+extern uint8_t lora_tx_flag;
static void sleep_timer_callback(void *dev, uint32_t time)
{
g_start_send_flag=1;
+ // #ifdef DEBUG_BOXING
+//// gpio_pin_clr(IO_PIN_5);//测试
+ // gpio_pin_set(IO_PIN_5);//测试
+ // lora_wg_up=1;
+
+ lora_tx_flag++;
+// lora_qiehuan++;
// IO_control_init();
// UWBPoll();
//
@@ -326,14 +348,23 @@
//GPS工作逻辑
}
+
+void phy_timer_callback(uint32_t time)
+{
+ lora_tx_flag++;
+}
+
+void uart0_receive_callback()
+{
+ uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart0_receive_callback);
+}
+
+
static void voltage_input_handler(enum IO_PIN_T pin)
{
}
-static void move_handler(enum IO_PIN_T pin)
-{
- nomove_count=0;
-}
+
uint8_t flag_4G_recdata;
static void _4gUsart_handler(enum IO_PIN_T pin)
{
@@ -347,8 +378,8 @@
{
Usart1ParseDataCallback = UsartParseDataHandler;//需改为默认为gps处理，UsartParseDataHandler为升级处理当调试时候改为
parameter_init_anchor();//g_com_map表初始化角色默认为基站
- g_com_map[DEV_ID]=0x6789;
- g_com_map[GROUP_ID]=1;
+ g_com_map[DEV_ID]=0x1234;
+// g_com_map[GROUP_ID]=1;
dev_id=g_com_map[DEV_ID];//这里不太对
group_id=g_com_map[GROUP_ID];//组ID
tag_frequency = 1000/g_com_map[COM_INTERVAL];//测距频率这个存的是测距时间
@@ -378,42 +409,17 @@
port = g_com_map[TCP_PORT];
g_com_map[VERSION] = (1<<8)|11;
LOG_INFO(TRACE_MODULE_APP,"设备ID: %x .\r\n",dev_id);
- LOG_INFO(TRACE_MODULE_APP,"固件版本:UWB-4G手环 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
+ LOG_INFO(TRACE_MODULE_APP,"固件版本:BGK-mk+蓝牙V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
LOG_INFO(TRACE_MODULE_APP,"服务器地址: %d.%d.%d.%d:%d.\r\n",ip0,ip1,ip2,ip3,port);
}
void IdleTask(void)
-{
- if(gpio_pin_get_val(INPUT_5V_Pin))
- {
-
- if(state5v==0)
- {
- state5v=1;
- state5V_prase_flag=state5v;
- gps_prase_flag=0;//解除gps解析
- uart1_change_from_gps_to_debug();//测试
- // uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
- //UartInit();
- }
-
- //UART_CheckSend();
- } else {
- if(state5v==1)
- {
- g_com_map[MODBUS_MODE] = 0;
- state5v=0;
- state5V_prase_flag=state5v;
- gps_prase_flag=1;//恢复gps解析
- uart1_change_from_debug_to_gps();//测试
- // uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
- //UartDeinit();
- }
- }
- UART_CheckReceive();
+{
+ UART0_CheckReceive();
}
+
int bind_check(void)
{
if(g_com_map[BIND_DEV_ID]!=0x00)
@@ -463,17 +469,34 @@
#define TEST_SPI_INTERUPT_MODE 1
#define TEST_SPI_DMA_MODE 2
#define TEST_SPI_MODE TEST_SPI_POLL_MODE
-void spi_gpio_init()
+
+void Board_gpio_init()
{
- // SPI0 MOSI/MISO/CLK/CS
+ //SPI0/MOSI/MISO/CLK/CS
io_pin_mux_set(LORA_CS, IO_FUNC0);
gpio_pin_set_dir(LORA_CS , GPIO_DIR_OUT, 0);
io_pull_set(LORA_CS, IO_HIGH_Z, IO_PULL_UP_NONE);
-
+
io_pin_mux_set(LORA_MOSI, IO_FUNC2);
io_pin_mux_set(LORA_MISO, IO_FUNC2);
io_pin_mux_set(LORA_CLK, IO_FUNC2);
- io_pin_mux_set(LORA_DIO, IO_FUNC0);//spi中断
+ io_pin_mux_set(LORA_DIO, IO_FUNC0);
+
+
+// //ADC
+// io_pin_mux_set(ADC_PIN, IO_FUNC1);
+// io_pull_set(ADC_PIN, IO_HIGH_Z, IO_PULL_UP_NONE);
+
+ //串口0
+ io_pin_mux_set(UART0_RX, IO_FUNC4);
+ io_pin_mux_set(UART0_TX, IO_FUNC4);
+
+ board_debug_console_open(TRACE_PORT_UART0);
+ uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart0_receive_callback);//开启dma
+
+ //串口1
+ io_pin_mux_set(UART1_RX, IO_FUNC4);
+ io_pin_mux_set(UART1_TX, IO_FUNC4);
}
void spi_init()
{
@@ -514,57 +537,241 @@
uint32_t successful_cnt=0;
uint8_t flag_4guart_needinit=0;
#define TX_LEN 10
-#define RX_LEN 100
-uint8_t tx_test_buf[TX_LEN] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9};
-uint8_t RF_RX_temp[RX_LEN]={0};
+#define RX_LEN 200
+
+extern uint8_t RX_Buffer[RX_LEN];
+extern uint16_t BufferSize;
+static uint16_t source_id;
extern struct RxDoneMsg RxDoneParams;
+
+
+extern uint16_t current_count;
+extern uint8_t rec_index,rec_secdelay;
+extern uint8_t yuyin_no_sleep_flag,no_rx_flag;
+
+
+/********************************************************************************************************/
+/********************************************************************************************************/
+/********************************************************************************************************/
+static uint16_t delaytime = 771;
+extern uint16_t wg_report_freq,wg_report_id;
+extern uint32_t wg_lost_count;
+extern uint8_t shengji_flag;
+extern uint8_t lora_jianting_flag,report_ancnum;
+uint8_t imu_enable,motor_enable;
uint32_t time_flag_lorarx=0;
uint32_t lora_huanxing_count=0;
+uint16_t Lora_wangguanid=0;
+wg_state_enum wg_state = WG_Lost;
+uint16_t wangguan_up_id;
+uint8_t LoraUp_flag;
+uint16_t rec_wenjian_daxiao;
+uint16_t recnum[3];
+uint16_t recv_flag=0;
+uint16_t tx_flag=0;
+uint16_t CRC16=0;
+uint16_t DEST_ID=0;
+uint16_t rec_value,rec_delaytime,rx_count,datalen_offset;
+uint16_t Loratx_flag=0;
+uint16_t Lorarx_flag=0;
+uint16_t Lorarx_time_out_flag=0;
+uint8_t tx_buf[5]={0,1,0,1,1};
+uint32_t sleep_time_count=0;
+uint32_t uwb_ceju_count=0;
+/********************************************************************************************************/
static void Lora_irq_handler(enum IO_PIN_T pin)
-{
- ceshi++;
-
- rf_irq_process();
- //g_start_send_flag=1;
- if(rf_get_transmit_flag() == RADIO_FLAG_TXDONE)
- {
- rf_set_transmit_flag(RADIO_FLAG_IDLE);
- rf_enter_continous_rx();
- }
-
-
- if(rf_get_recv_flag() == RADIO_FLAG_RXDONE)
- {
- rf_set_recv_flag(RADIO_FLAG_IDLE);
+{
+
+ uint16_t checksum1;
+ rf_irq_process();
-// memcpy(RF_RX_temp,RxDoneParams.Payload,RxDoneParams.Size);
-// //OnRxDone();
-// if(RF_RX_temp[0]==0x04&&RF_RX_temp[1]=='I'&&RF_RX_temp[2]=='N'&&RF_RX_temp[3]=='G')
-// {
- lora_huanxing_count++;
- time_flag_lorarx=phy_timer_count_get();
-
- //LORA_REV_uwb_up=1;
- UwbRange();
-
-// }
- rf_enter_continous_rx(); //重新进入接收模式
- // gpio_pin_set(IO_PIN_5);//测试
- gpio_pin_clr(IO_PIN_5);
- //UwbRange();
-// DDL_Printf("Rx : SNR: %f ,RSSI: %d \r\n", RxDoneParams.Snr, RxDoneParams.Rssi);
- //int i=0;
-// for(i = 0; i < RxDoneParams.Size; i++)
-// {
-// printf("0x%02x ", RxDoneParams.Payload[i]);
-// }
- // error_cnt ++;
- }
- if((rf_get_recv_flag() == RADIO_FLAG_RXTIMEOUT) || (rf_get_recv_flag() == RADIO_FLAG_RXERR))
+ no_rx_flag=0;
+ tx_flag=rf_get_transmit_flag();
+ recv_flag=rf_get_recv_flag();
+ if(recv_flag == RADIO_FLAG_RXDONE)
{
- rf_set_recv_flag(RADIO_FLAG_IDLE);
+ rf_set_recv_flag(RADIO_FLAG_IDLE);
+
+ memcpy(RX_Buffer,RxDoneParams.Payload,RxDoneParams.Size);
+ BufferSize=RxDoneParams.Size;
+ lora_huanxing_count++;
+ if(RX_Buffer[MSG_TYPE_IDX]==LORA_MSGTYPE_RANGEPOLL)
+ {
+
+ uwb_open();
+
+ UwbRange();
+
+ uwb_ceju_count++;
+ }
+// if(RX_Buffer[0]==0x04,RX_Buffer[1]=='O',RX_Buffer[2]=='N',RX_Buffer[3]=='G')
+// {
+// gpio_pin_set(IO_PIN_5);//测试
+//// time_flag_lorarx=phy_timer_count_get();
+// uwb_open();
+// gpio_pin_clr(IO_PIN_5);
+// UwbRange();
+//
+// uwb_ceju_count++;
+// //rf_enter_continous_rx(); //重新进入接收模式
+// //LORA_REV_uwb_up=1;
+// }
+ if(RX_Buffer[MSG_TYPE_IDX]==LORA_MSGTYPE_WGRESPTAG)
+ {
+ checksum1=Checksum_u16(RX_Buffer,BufferSize-2);
+
+ memcpy(&DEST_ID,&RX_Buffer[DEST_ID_IDX],2);
+ memcpy(&CRC16,&RX_Buffer[BufferSize-2],2);
+ if(!memcmp(&checksum1,&RX_Buffer[BufferSize-2],2))
+ if(!memcmp(&dev_id,&RX_Buffer[DEST_ID_IDX],2))
+ {
+ memcpy(&source_id,&RX_Buffer[SOURCE_ID_IDX],2);
+ if(wg_state==WG_Lost)
+ {
+ wg_state = WG_Connected;
+ wg_report_id = source_id;
+ }
+ if(!memcmp(&wg_report_id,&RX_Buffer[SOURCE_ID_IDX],2))
+ {
+ wg_lost_count = 0;
+ switch(RX_Buffer[PWTAG_RW_FLAG_IDX])
+ {
+ case WGRSP_RWTAG_NONE:
+
+// wg_report_freq = RX_Buffer[POLL_FREQ_IDX]+400;
+// memcpy(&rec_delaytime,&RX_Buffer[NEXTPOLL_TIME_IDX],2);
+// if(report_ancnum<2)
+// {
+// datalen_offset = report_ancnum*85;
+// }else{
+// datalen_offset = (report_ancnum-1)*46+85;
+// }
+// rec_secdelay = RX_Buffer[PWTAG_SECDELAY_IDX];
+// if(BufferSize!=13||rec_secdelay>20)
+// {
+// rec_secdelay = 0;
+// }
+//
+// sleep_time_count = rec_delaytime*3.2768 - delaytime-datalen_offset;
+// while(sleep_time_count>=32768)
+// sleep_time_count-=32768;
+// sleep_timer_start(sleep_time_count);
+
+ break;
+ case WGRSP_RWTAG_READ:
+ no_rx_flag = 1;
+ LoraSendComMap(WGRSP_RWTAG_READ);
+ break;
+ case WGRSP_RWTAG_WRITE:
+ rec_index = RX_Buffer[PWTAG_WRITE_IDX_IDX];
+ switch(rec_index)
+ {
+ case 0xdd: //语音下发
+ break;
+// case 0x20: //蜂鸣
+// memcpy(&rec_value,&RX_Buffer[PWTAG_WRITE_VALUE_IDX],2);
+// motor_keeptime = rec_value;
+// break;
+ default :
+ memcpy(&rec_value,&RX_Buffer[PWTAG_WRITE_VALUE_IDX],2);
+ g_com_map[rec_index/2] = rec_value;
+ save_com_map_to_flash();
+ LoraRspWriteCommap(SUBMSG_WRITE_ANCPARA);
+ //flag_writepara_needreset = 1;
+ no_rx_flag = 1;
+ }
+
+ break;
+ case WGRSP_RWTAG_UPDATE:
+ rec_index = RX_Buffer[PWTAG_WRITE_IDX_IDX];
+ switch(rec_index)
+ {
+ case 0xaa: //升级下发
+ memcpy(&rec_wenjian_daxiao,&RX_Buffer[WRITEPARA_VALUE_IDX],2);//文件大小
+ if(rec_wenjian_daxiao>0XAC00||rec_wenjian_daxiao==0)
+ {}//文件过大，超出范围
+ else
+ {
+ memcpy(&wangguan_up_id,&RX_Buffer[SOURCE_ID_IDX],2);//网关ID 占用2个字节
+ shengji_flag=1;
+ LoraUp_flag=1;
+ imu_enable=0;
+ }
+// LoraUp_Poll();
+ break;
+ }
+ break;
+ }
+ }
+ }
+
+ }
+ if(!no_rx_flag)
+ {
+ if(lora_jianting_flag)
+ {
+ uint32_t para;
+// SwitchLoraSettings(UWB_CHANNEL_FRQ+group_id,UWB_CHANNEL_SF,0);
+ rf_set_mode(RF_MODE_STB3);
+ para=(UWB_CHANNEL_FRQ+group_id)*1000000;
+ rf_set_freq(para);
+ rf_set_sf(UWB_CHANNEL_SF);
+ rf_enter_continous_rx();
}
+ }
+
+ }
+ if(tx_flag == RADIO_FLAG_TXDONE)
+ {
+ //rf_set_mode(RF_MODE_STB3);
+ rf_set_transmit_flag(RADIO_FLAG_IDLE);
+ Loratx_flag++;
+ rf_enter_single_timeout_rx(100);
+ }
+ if((recv_flag == RADIO_FLAG_RXTIMEOUT))
+ {
+ //这个超时接收是会自动重启的，所以必须将芯片状态置成STB3这样就退出了连续接收状态
+ rf_set_mode(RF_MODE_STB3);
+ //这个超时接收是会自动重启的，所以必须将芯片状态置成STB3这样就退出了连续接收状态
+ Lorarx_time_out_flag++;
+ rf_set_recv_flag(RADIO_FLAG_IDLE);
+ rf_set_freq(UWB_CHANNEL_FRQ+group_id*10000000);
+ rf_set_sf(UWB_CHANNEL_SF);
+ if(lora_jianting_flag)
+ {
+ uint32_t para;
+// SwitchLoraSettings(UWB_CHANNEL_FRQ+group_id,UWB_CHANNEL_SF,0);
+ rf_set_mode(RF_MODE_STB3);
+ para=(UWB_CHANNEL_FRQ+group_id)*1000000;
+ rf_set_freq(para);
+ rf_set_sf(UWB_CHANNEL_SF);
+ rf_enter_continous_rx();
+ }
+ // rf_clr_irq(REG_IRQ_RX_TIMEOUT);
+ // rf_enter_single_timeout_rx(100);
+ }
+ if((recv_flag == RADIO_FLAG_RXERR))
+ {
+ rf_set_recv_flag(RADIO_FLAG_IDLE);
+ if(lora_jianting_flag)
+ {
+ uint32_t para;
+// SwitchLoraSettings(UWB_CHANNEL_FRQ+group_id,UWB_CHANNEL_SF,0);
+ rf_set_mode(RF_MODE_STB3);
+ para=(UWB_CHANNEL_FRQ+group_id)*1000000;
+ rf_set_freq(para);
+ rf_set_sf(UWB_CHANNEL_SF);
+ rf_enter_continous_rx();
+ }
+ }
+
}
+
+
+
+
+
+
void Board_LORA_NVIC_Init(GPIO_IRQ_HANDLER_T irq_handler) //LORA 中断配置
{
// io_pin_mux_set(_4G_USART_RX_Pin,IO_FUNC0);//把原先io 变为普通GPIO
@@ -572,176 +779,84 @@
io_pull_set(LORA_DIO, IO_HIGH_Z, IO_PULL_UP_NONE);
gpio_enable_irq(LORA_DIO, GPIO_IRQ_TYPE_RISING_EDGE, irq_handler);
}
-
+extern uint8_t pca9555writedata_input[10];//暂存输入寄存器所有配置的数组
+static void pca_handler(enum IO_PIN_T pin)
+{
+ PCA9555_readdata(PCA9555_DEVICE_ADDR,pca9555writedata_input);//读输入寄存器的值
+ check_input_change();
+}
uint8_t io14_state;
-
+uint16_t lora_freq=0;
+uint16_t lora_up_count=0;
+uint8_t TXBuffer[8]={0,1,2,3,4,5,6,7};
+uint8_t test_buf[10]={0,1,1,1,1,1,1,1,1,1};
int main(void)
{
board_clock_run();
-// boot_deinit();
-// board_pins_config();
- board_debug_console_open(TRACE_PORT_UART1);
+ // boot_deinit();
+ // board_debug_console_open(TRACE_PORT_UART1);
// Reset reason
reset_cause_get();
- reset_cause_clear();
-
- // Load calibration parameters from NVM
-// uint32_t internal_flash = (REG_READ(0x40000018) >> 17) & 0x1;
-// uint32_t external_flash = (REG_READ(0x40010030) >> 28) & 0x3;
-// if (internal_flash || external_flash == 1)
-// {
-// WsfNvmInit();
-// board_calibration_params_load();
-// flash_close(FLASH_ID0);
-// }
-// else
-// {
-// board_calibration_params_default();
-// }
-
+ reset_cause_clear();
// Chip calibration
calib_chip();
// Disable watchdog timer
wdt_close(WDT_ID0);
-// LOG_INFO(TRACE_MODULE_APP, "UWB simple example\r\n");
-
- // open system timer
- //sys_timer_open();
-
-// // TODO 4G
-// Uart_Register(UART_ID_4G, UART_ID0);
-// Internet_Init();
-// TCPClient_Init();
gpio_open();
-
-// struct TIMER_CFG_T timer_cfg = {
-// .extin_type = TIMER_EXTIN_NONE,
-// .load = 0x1000000,
-// .int_en = true,
-// .callback = timer_callback,
-// };
-// timer_open(TIMER_ID0, &timer_cfg);
- spi_gpio_init();
+ Board_gpio_init();
//board_led_init();
-
spi_init();
+// gpio_pin_clr(LORA_CS);
+// gpio_pin_clr(LORA_MOSI);
+// gpio_pin_clr(LORA_MISO);
+// gpio_pin_clr(LORA_CLK);
+// gpio_pin_set(LORA_CLK);
+// gpio_pin_set(LORA_DIO);
+
Board_LORA_NVIC_Init(Lora_irq_handler);
- Lora_init();
- rf_set_default_para(DEFAULT_up_FREQ,DEFAULT_up_SF);
- // rf_set_default_para(DEFAULT_up_FREQ,DEFAULT_up_SF);
-//
- rf_enter_continous_rx();
-// rf_set_transmit_flag(RADIO_FLAG_TXDONE);
-// rf_set_transmit_flag(RADIO_FLAG_TXDONE);
-// if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != 0)
-// {
-// error_cnt++;
-// }
-// else
-// {
-// successful_cnt ++;
-// }
-
-
-// while (rf_get_transmit_flag() == RADIO_FLAG_IDLE) ;
-//
-// rf_set_transmit_flag(RADIO_FLAG_IDLE);
-
-// adc_open(&usr_adc_cfg);
-// IIC2_Init();
-// Accelerometer_Init();
-// IO_control_init();
-// io_pin_mux_set(SCL_PIN, IO_FUNC0);//测试测距波形
-// gpio_pin_set_dir(SCL_PIN , GPIO_DIR_OUT, 0);
-// io_pull_set(SCL_PIN , IO_PULL_DOWN, IO_PULL_UP_LEVEL4);
-// gps_air780_power_change(0,1);//开启gps，4G
-////加速度计初始化必须在IO_control_init之前因为复用SDA引脚
+ Lora_init();
+ rf_set_default_para(DEFAULT_WG_SET_FREQ,DEFAULT_WG_SET_SF);
+ IIC2_Init();
+ Accelerometer_Init();
+ //LIS3DH_Data_Init();
+ PCA9555_init();
+
// adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
Program_Init();
-// uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
+//#ifdef DEBUG_BOXING
+// io_pin_mux_set(IO_PIN_5,IO_FUNC0);
+// gpio_pin_set_dir(IO_PIN_5,GPIO_DIR_OUT,0);
+// io_pull_set(IO_PIN_5,IO_PULL_DOWN,IO_PULL_UP_LEVEL4);
+//#endif
+
+ // rf_single_tx_data(TXBuffer,10,2);
+// uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart0_receive_callback);
//
//// Initialize low power mode
// power_init();
// AIR780E_Reset(); //4G模块重启，耗时1.5秒,这个是无法同步的关键
sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
+ sleep_timer_start(__MS_TO_32K_CNT(1000));//测试
+// sleep_time_count=xtal_38m4_off_time();
- // sleep_timer_start(__MS_TO_32K_CNT(1000));//测试
-#ifdef DEBUG_BOXING
- io_pin_mux_set(IO_PIN_5,IO_FUNC0);
- gpio_pin_set_dir(IO_PIN_5,GPIO_DIR_OUT,0);
- io_pull_set(IO_PIN_5,IO_PULL_DOWN,IO_PULL_UP_LEVEL4);
-#endif
-// board_acceleration_detection_init(move_handler);
+
+
+
+
Uwbinit();
while (1)
- {
-
-// test_Delay_us(1000);
-// gpio_pin_set(IO_PIN_5);//测试
-// test_Delay_us(1000);
-// gpio_pin_clr(IO_PIN_5);//测试
-// test_Delay_us(2000);
-// gpio_pin_set(IO_PIN_5);//测试
-// test_Delay_us(1000);
-// gpio_pin_clr(IO_PIN_5);//测试
-// if(LORA_REV_uwb_up)
-// {
-// LORA_REV_uwb_up=0;
-// UwbRange();
-// }
-
-// if(g_start_send_flag)
-// {
-// g_start_send_flag=0;
-// // Lora_Report_poll();
-// // Lora_UploadHeartBeartPoll();
-// }
-
-
+ {
+// RED_LED_OFF;
+// BT_LED_OFF;
+// // gpio_pin_clr(IO_PIN_5);
+
+ Lora_Tx_Poll();
+ IdleTask();
// UwbRange();
-// rf_irq_process();
-// if(rf_get_transmit_flag() == RADIO_FLAG_TXDONE)
-// {
-// rf_set_transmit_flag(RADIO_FLAG_IDLE);
-// rf_delay_ms(1000);
-// if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != 0)
-// {
-// error_cnt++;
-// }
-// else
-// {
-// successful_cnt ++;
-//// DDL_Printf("Tx cnt %d\r\n", cnt );
-// }
-// }
-
-
-////
-//
-//// io14_state=gpio_pin_get_val(LORA_DIO);
-// rf_set_transmit_flag(RADIO_FLAG_IDLE);
-// rf_delay_ms(1000);
-// rf_enter_continous_tx();
-//// rf_set_transmit_flag(RADIO_FLAG_TXDONE);
-// if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != OK)
-// {
-//// rf_enter_continous_rx();
-// }
-// else
-// {
-// successful_cnt ++;
-// }
-
-
-
-
-// while (rf_get_transmit_flag() == RADIO_FLAG_IDLE) ;
-//
-// rf_set_transmit_flag(RADIO_FLAG_IDLE);
-
+
// if(flag_TCP_reconnectting||IfTCPConnected())
// {
//
@@ -763,7 +878,7 @@
// flag_secondtask = 0;
// SecondTask();
// }
-// IdleTask();
+
// //3种情况后都要发包和休眠
// //if(send_flag){
// //message_construct();
--
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